Artículo
An electric kickscooter multibody model: equations of motion and linear stability analysis
Autor/es | García-Agúndez Blanco, Alfonso
García Vallejo, Daniel ![]() ![]() ![]() ![]() ![]() ![]() ![]() Freire Macías, Emilio ![]() ![]() ![]() ![]() ![]() ![]() ![]() |
Departamento | Universidad de Sevilla. Departamento de Matemática Aplicada II (ETSI) Universidad de Sevilla. Departamento de Ingeniería Mecánica y de Fabricación |
Fecha de publicación | 2024-03-14 |
Fecha de depósito | 2024-06-03 |
Publicado en |
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Resumen | In this work, a detailed multibody model of an electric kickscooter is presented. The model includes toroidal wheels as well as rear and front suspensions. The equations of motion are derived and linearized along the steady ... In this work, a detailed multibody model of an electric kickscooter is presented. The model includes toroidal wheels as well as rear and front suspensions. The equations of motion are derived and linearized along the steady forward motion of the vehicle. Using an efficient linearization approach, suitable for complex multibody systems with holonomic and nonholonomic constraints, allows for obtaining the reduced linearized equations of motion as a function of the geometric, dynamic, wheels’, and suspensions’ parameters. The proposed electric kickscooter multibody model is validated with the stability results of a previously presented electric kickscooter benchmark. Since the resulting eigenvalues are parameterized regarding the design parameters, a detailed linear stability analysis of the system is performed. In particular, the influence on the stability of the toroidal geometry of the wheels, the elliptic cross-section of the toroidal wheels, the rider model, the steering axis inclination angle, the inertia tensor of the front frame, and the rear and front suspensions is analyzed. The model presented, together with the linearized equations of motion obtained in this work, enables a systematic analysis of the stability of these vehicles, which helps design new electric kickscooters with improved vehicle safety conditions and oriented to a wider range of potential users. |
Agencias financiadoras | Ministerio de Ciencia, Innovación y Universidades (MICINN). España |
Identificador del proyecto | FPU18/05598
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Cita | García-Agúndez Blanco, A., García Vallejo, D. y Freire Macías, E. (2024). An electric kickscooter multibody model: equations of motion and linear stability analysis. Multibody System Dynamics. https://doi.org/10.1007/s11044-024-09974-4. |
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